////////////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2020 NovAtel Inc.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
////////////////////////////////////////////////////////////////////////////////

#ifndef DRIVER_PARAMETER_HPP
#define DRIVER_PARAMETER_HPP

#include <rclcpp/rclcpp.hpp>

namespace bynav_ros_driver
{

template <class T> class DriverParameter
{
public:
  rclcpp::Node&  node_;
  std::string    name_;
  T              value_;

  DriverParameter(std::string name, T def_value, rclcpp::Node& node):
    name_(name),
    node_(node)
  {
    node_.declare_parameter<T>(name_, def_value);
  }

  const T& value()
  {
    node_.get_parameter(name_, value_);
    return value_;
  }
};

}
#endif


